TuxMonkey/bf_original_balance_chassis
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增大了实时系统的栈空间,修复视觉通信函数临时变量导致内存泄漏的问题

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This commit is contained in:
NeoZng
2023-04-20 09:54:04 +08:00
parent 1818edf117
commit 0f55fed9d6
4 changed files with 22 additions and 14 deletions
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20
Src/freertos.c
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@@ -52,6 +52,12 @@
/* USER CODE END Variables */
osThreadId defaultTaskHandle;
osThreadId insTaskHandle;
osThreadId ledTaskHandle;
osThreadId robotTaskHandle;
osThreadId motorTaskHandle;
osThreadId daemonTaskHandle;
osThreadId uiTaskHandle;
/* Private function prototypes -----------------------------------------------*/
/* USER CODE BEGIN FunctionPrototypes */
@@ -119,16 +125,16 @@ void MX_FREERTOS_Init(void) {
/* USER CODE BEGIN RTOS_THREADS */
/* add threads, ... */
osThreadDef(instask, StartINSTASK, osPriorityNormal, 0, 1024);
defaultTaskHandle = osThreadCreate(osThread(instask), NULL);
insTaskHandle = osThreadCreate(osThread(instask), NULL);
osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 256);
defaultTaskHandle = osThreadCreate(osThread(motortask), NULL);
osThreadDef(motortask, StartMOTORTASK, osPriorityNormal, 0, 512);
motorTaskHandle = osThreadCreate(osThread(motortask), NULL);
osThreadDef(daemontask, StartDAEMONTASK, osPriorityNormal, 0, 512);
defaultTaskHandle = osThreadCreate(osThread(daemontask), NULL);
osThreadDef(daemontask, StartDAEMONTASK, osPriorityNormal, 0, 128);
daemonTaskHandle = osThreadCreate(osThread(daemontask), NULL);
osThreadDef(robottask, StartROBOTTASK, osPriorityNormal, 0, 1024);
defaultTaskHandle = osThreadCreate(osThread(robottask), NULL);
robotTaskHandle = osThreadCreate(osThread(robottask), NULL);
/* USER CODE END RTOS_THREADS */
}
@@ -191,7 +197,7 @@ void StartROBOTTASK(void const * argument)
{
// 200Hz
RobotTask();
osDelay(10);//syh此处暂时将时间改<E997B4><EFBFBD>?10ms，原因在于未使用缓冲区发送，发<EFBC8C>?<3F>时延时5ms
osDelay(5);//syh此处暂时将时间改<E997B4>?10ms，原因在于未使用缓冲区发送，发<EFBC8C>?<3F>时延时5ms
}
}
/* USER CODE END Application */